CN114935946B

CN114935946B - Unmanned aerial vehicle landing method and device

Info

Publication number: CN114935946B
Application number: CN202210856129.7A
Authority: CN
Inventors: 车海翔; 熊文文
Original assignee: Zhejiang Laifei Technology Co ltd
Current assignee: Zhejiang Laifei Technology Co ltd
Priority date: 2022-07-21
Filing date: 2022-07-21
Publication date: 2022-12-09
Anticipated expiration: 2042-07-21
Also published as: CN114935946A

Abstract

The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle landing method and device, wherein the method comprises the following steps: acquiring landing application information of the unmanned aerial vehicle to be examined and approved; determining a time code corresponding to the predicted landing time; combining the time code with the airport identification, and determining the time code as a sub landing code corresponding to the unmanned aerial vehicle to be examined and approved; judging whether a target landing permission code containing a sub landing code exists in the landing permission code set or not; if yes, determining the number of each machine position code corresponding to the sub landing code according to the machine position code information; judging whether the maximum entering sequence code corresponding to the target landing permission code with the least number of the machine bit codes is smaller than a preset code or not; if so, determining the machine position code with the least number of machine position codes as the machine position code corresponding to the unmanned aerial vehicle to be examined and approved, and adding one to the largest entering sequence code to determine the entering sequence code corresponding to the unmanned aerial vehicle to be examined and approved; and combining the sub landing codes, the aircraft position codes and the entering sequence codes corresponding to the unmanned aerial vehicle to be approved to determine the landing permission codes of the unmanned aerial vehicle to be approved.

Description

Unmanned aerial vehicle landing method and device

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle landing method and device.

Background

In the landing method of the unmanned aerial vehicle at the public airport in the prior art, the landing position of the unmanned aerial vehicle is determined by staff according to the landing application of the unmanned aerial vehicle, and the staff approves the actual arrival condition of each unmanned aerial vehicle to control the unmanned aerial vehicle to actually land. This lead to airport resource can't obtain make full use of to there is the potential safety hazard, lead to unmanned aerial vehicle's descending inefficiency.

Disclosure of Invention

In view of this, the aim of this application provides an unmanned aerial vehicle landing method and device at least, confirm unmanned aerial vehicle's the application code that descends through unmanned aerial vehicle's prediction time of descending, the airport sign of prediction descending to make unmanned aerial vehicle descend according to the application code that descends, solved and needed the artifical technical problem who arranges that unmanned aerial vehicle descends and make mistakes easily and inefficiency among the prior art, reached the technological effect that improves unmanned aerial vehicle descending efficiency.

The application mainly comprises the following aspects:

in a first aspect, an embodiment of the present application provides an unmanned aerial vehicle landing method, where the unmanned aerial vehicle landing method includes: acquiring landing application information of the unmanned aerial vehicle to be examined and approved; the landing application information comprises predicted landing time and airport marks predicted to land; determining a time code corresponding to the predicted landing time; combining the time code with the airport identification, and determining the time code as a sub landing code corresponding to the unmanned aerial vehicle to be examined and approved; judging whether a target landing permission code containing a sub landing code exists in the landing permission code set; the target landing permission code comprises machine position code information; if the landing permission code set comprises the target landing permission codes containing the sub landing codes, determining the number of each machine position code corresponding to the sub landing codes according to the machine position code information; judging whether the maximum entering sequence code corresponding to the target landing permission code with the least number of the machine bit codes is smaller than a preset code or not; if the maximum entering sequence code corresponding to the target landing permission code with the least number of the machine position codes is smaller than the preset code, determining the machine position code with the least number of the machine position codes as the machine position code corresponding to the unmanned aerial vehicle to be examined and approved, and adding one to the maximum entering sequence code to determine as the entering sequence code corresponding to the unmanned aerial vehicle to be examined and approved; combining the sub landing codes corresponding to the unmanned aerial vehicles to be approved, the station codes corresponding to the unmanned aerial vehicles to be approved and the incoming sequence codes corresponding to the unmanned aerial vehicles to be approved to determine the sub landing codes as landing permission codes of the unmanned aerial vehicles to be approved; and sending the landing permission code of the unmanned aerial vehicle to be inspected to the unmanned aerial vehicle to be inspected so that the unmanned aerial vehicle to be inspected lands according to the landing permission code.

Optionally, determining the time code corresponding to the predicted landing time includes: calculating the ratio of the time stamp corresponding to the expected landing time to a preset time window; and adding one to the integer number of the ratio to determine the time code corresponding to the predicted landing time.

Optionally, after determining whether there is a target landing permission code including a child landing code in the landing permission code set, the method further includes: and if the landing permission code set does not contain the target landing permission code of the sub landing codes, combining the sub landing codes, the minimum station code and the initial entering sequence code to determine the landing permission code of the unmanned aerial vehicle to be examined and approved.

Optionally, after determining the number of each machine code corresponding to the sub landing code according to the machine code information, the method further includes: judging whether the number of each machine position code is zero or not; if the number of each machine position code is not zero, judging whether the maximum entering sequence code corresponding to the target landing permission code with the least number of machine position codes is smaller than a preset code or not; if the number of any machine bit code is zero, judging whether the number of only one machine bit code is zero; if the number of only one station code is zero, determining the sub landing code, the station code and the initial entering sequence code as landing permission codes of the unmanned aerial vehicle to be examined and approved; if the number of the machine position codes is not zero, selecting the smallest machine position code from the machine position codes with the number of the machine position codes being zero, and combining the sub landing code, the smallest machine position code and the initial entering sequence code to determine the landing permission code of the unmanned aerial vehicle to be approved.

Optionally, before determining whether the maximum entering sequence code corresponding to the target landing permission code with the minimum number of machine position codes is smaller than the preset code, the method further includes: judging whether the number of only one machine bit code is minimum; if only one machine position code has the minimum number, judging whether the maximum entering sequence code corresponding to the target landing permission code with the minimum number of machine position codes is smaller than a preset code or not; if the number of the machine bit codes is not the minimum, selecting the minimum machine bit code from the machine bit codes with the minimum number of the machine bit codes to determine the machine bit code with the minimum number of the machine bit codes.

Optionally, after the unmanned aerial vehicle to be approved lands according to the landing permission code, the unmanned aerial vehicle landing method further includes: judging whether the actual time of the target unmanned aerial vehicle to be landed reaching the preset area belongs to a first time range corresponding to the target time code in the landing permission code of the target unmanned aerial vehicle to be landed; if the actual time of the target unmanned aerial vehicle to be landed to reach the preset area belongs to the first time range corresponding to the target time code in the landing permission code of the target unmanned aerial vehicle to be landed, judging whether the actual time of the target unmanned aerial vehicle to be landed to reach the preset area belongs to the second time range corresponding to the target time code; if the actual time of the target unmanned aerial vehicle to be landed to reach the preset area belongs to a second time range corresponding to the target time code, waiting for the time upper limit of the second time range, and judging whether all unmanned aerial vehicles to be landed corresponding to the target airport identification, the target time code and the target airport location code in the landing permission code of the target unmanned aerial vehicle to be landed reach the preset area; if all the unmanned aerial vehicles to be landed corresponding to the target airport identification, the target time code and the target position code in the landing permission code of the unmanned aerial vehicle to be landed by the target arrive at the preset area when waiting for the time upper limit of the second time range, indicating that the unmanned aerial vehicle to be landed by the target flies to the landing height corresponding to the target entering sequence code in the landing permission code of the unmanned aerial vehicle to be landed by the target.

Optionally, after determining whether the actual time when the target unmanned aerial vehicle to be landed arrives at the preset area belongs to the second time range corresponding to the target time code, the method further includes: if the actual time that the target unmanned aerial vehicle to be landed arrives at the preset area does not belong to the second time range corresponding to the target time code, judging whether the number of arrived unmanned aerial vehicles to be landed except the target unmanned aerial vehicle to be landed corresponding to the target machine position code is zero or not; if the number of the reached unmanned aerial vehicles to be landed except the target unmanned aerial vehicles to be landed, which correspond to the target airport identification, the target time code and the target position code in the landing permission code of the target unmanned aerial vehicle to be landed, is not zero, adding the highest landing height corresponding to the reached unmanned aerial vehicle to be landed and a preset height interval to determine the landing height of the target unmanned aerial vehicle to be landed; and if the number of the reached unmanned aerial vehicles to be landed except the target unmanned aerial vehicles to be landed, which correspond to the target airport identification, the target time code and the target position code in the landing permission code of the target unmanned aerial vehicle to be landed, is zero, determining the height value of the preset height interval as the landing height of the target unmanned aerial vehicle to be landed.

Optionally, when waiting for the time upper limit of the second time range, after determining whether all the unmanned aerial vehicles to be landed corresponding to the target airport identifier, the target time code, and the target airport code in the landing permission code of the target unmanned aerial vehicle to be landed all reach the preset area, the method further includes: if the unmanned aerial vehicles to be landed corresponding to the target airport identification, the target time code and the target machine position code in the landing permission code of the target unmanned aerial vehicle to be landed do not all reach the preset area when waiting for the time upper limit of the second time range, judging whether the number of the unmanned aerial vehicles to be landed except the target unmanned aerial vehicle corresponding to the target airport identification, the target time code and the target machine position code reaches zero or not; if the number of the unmanned aerial vehicles to be landed except the target unmanned aerial vehicle to be landed, which corresponds to the target airport identification, the target time code and the target position code, is not zero, determining the arrival sequence of the target unmanned aerial vehicle to be landed according to the actual time of the arrived unmanned aerial vehicle to be landed reaching a preset area; determining the landing height of the target unmanned aerial vehicle to be landed according to the arrival sequence of the target unmanned aerial vehicle to be landed; and if the number of the reached unmanned aerial vehicles to be landed except the target unmanned aerial vehicles to be landed corresponding to the target airport identification, the target time code and the target position code is zero, determining the height value of the preset height interval as the landing height of the target unmanned aerial vehicles to be landed.

In a second aspect, an embodiment of the present application further provides an unmanned aerial vehicle landing device, and the unmanned aerial vehicle landing device includes: the acquisition module is used for acquiring landing application information of the unmanned aerial vehicle to be approved; the landing application information comprises predicted landing time and airport marks of predicted landing; the first determining module is used for determining a time code corresponding to the predicted landing time; the second determining module is used for combining the time code with the airport identification and determining the time code as a sub landing code corresponding to the unmanned aerial vehicle to be examined and approved; the first judgment module is used for judging whether the landing permission code set has a target landing permission code containing a sub landing code; the target landing permission code comprises machine position code information; the third determining module is used for determining the number of each machine position code corresponding to the sub landing code according to the machine position code information if the landing permission code set contains the target landing permission code containing the sub landing code; the second judgment module is used for judging whether the maximum entering sequence code corresponding to the target landing permission code with the least number of machine position codes is smaller than the preset code or not; the fourth determining module is used for determining the minimum number of the machine position codes as the machine position codes corresponding to the unmanned aerial vehicles to be examined and approved if the maximum entering sequence code corresponding to the target landing permission code with the minimum number of the machine position codes is smaller than the preset code, and adding one to the maximum entering sequence code to determine the entering sequence code corresponding to the unmanned aerial vehicles to be examined and approved; the fifth determining module is used for combining the sub landing codes corresponding to the unmanned aerial vehicles to be approved, the station codes corresponding to the unmanned aerial vehicles to be approved and the entering sequence codes corresponding to the unmanned aerial vehicles to be approved to determine the landing permission codes of the unmanned aerial vehicles to be approved; and the landing module is used for sending the landing permission code of the unmanned aerial vehicle to be approved to the unmanned aerial vehicle to be approved so that the unmanned aerial vehicle to be approved lands according to the landing permission code.

In a third aspect, an embodiment of the present application further provides an electronic device, including: the unmanned aerial vehicle landing method comprises a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, when the electronic device runs, the processor and the memory communicate through the bus, and when the machine-readable instructions are run by the processor, the steps of the unmanned aerial vehicle landing method in the first aspect or any one of the possible implementation manners of the first aspect are executed.

In a fourth aspect, this application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of landing the drone in the first aspect or any one of the possible implementations of the first aspect.

The embodiment of the application provides an unmanned aerial vehicle landing method and device, and the method comprises the following steps: acquiring landing application information of the unmanned aerial vehicle to be examined and approved; the landing application information comprises predicted landing time and airport marks of predicted landing; determining a time code corresponding to the predicted landing time; combining the time code with the airport identification to determine the time code as a sub landing code corresponding to the unmanned aerial vehicle to be examined and approved; judging whether a target landing permission code containing a sub landing code exists in the landing permission code set or not; the target landing permission code comprises machine position code information; if the landing permission code set comprises the target landing permission codes containing the sub landing codes, determining the number of each machine position code corresponding to the sub landing codes according to the machine position code information; judging whether the maximum entering sequence code corresponding to the target landing permission code with the least number of the machine bit codes is smaller than a preset code or not; if the maximum entering sequence code corresponding to the target landing permission code with the least number of the machine position codes is smaller than the preset code, determining the machine position code with the least number of the machine position codes as the machine position code corresponding to the unmanned aerial vehicle to be examined and approved, and adding one to the maximum entering sequence code to determine as the entering sequence code corresponding to the unmanned aerial vehicle to be examined and approved; determining a sub landing code corresponding to the unmanned aerial vehicle to be approved, a station code corresponding to the unmanned aerial vehicle to be approved and an entering sequence code corresponding to the unmanned aerial vehicle to be approved as landing permission codes of the unmanned aerial vehicle to be approved; and sending the landing permission code of the unmanned aerial vehicle to be inspected to the unmanned aerial vehicle to be inspected so that the unmanned aerial vehicle to be inspected lands according to the landing permission code. This application is through unmanned aerial vehicle's estimated time of touchdown, the airport sign confirmed unmanned aerial vehicle's of estimated touchdown application code to make unmanned aerial vehicle descend according to descending application code, solved and need the manual work to arrange unmanned aerial vehicle among the prior art and descend and make mistakes easily and the technical problem of inefficiency, reached the technological effect who improves unmanned aerial vehicle descending efficiency.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 shows a flowchart of a method for landing an unmanned aerial vehicle according to an embodiment of the present application.

Fig. 2 shows a flowchart of another method for landing an unmanned aerial vehicle according to an embodiment of the present application.

Fig. 3 shows a functional block diagram of an unmanned aerial vehicle landing device provided in an embodiment of the present application.

Fig. 4 shows a schematic structural diagram of an electronic device provided in an embodiment of the present application.

Detailed Description

To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for illustrative and descriptive purposes only and are not used to limit the scope of protection of the present application. Additionally, it should be understood that the schematic drawings are not necessarily drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be performed out of order, and that steps without logical context may be performed in reverse order or concurrently. In addition, one skilled in the art, under the guidance of the present disclosure, may add one or more other operations to the flowchart, or may remove one or more operations from the flowchart.

In addition, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

In the prior art, the landing of the unmanned aerial vehicle at a public airport needs to be controlled by workers to arrange the landing sequence of the unmanned aerial vehicle one by one, so that manual operation is easy to cause errors, and accidents of the unmanned aerial vehicle are easy to cause in actual landing; if the unmanned aerial vehicle descends and asks when too much, unmanned aerial vehicle descends inefficiency.

Based on this, this application embodiment provides an unmanned aerial vehicle landing method and device, through unmanned aerial vehicle's estimated landing time, the airport sign confirmed unmanned aerial vehicle's of estimated landing application code to make unmanned aerial vehicle descend according to the landing application code, solved and needed the artifical technical problem who arranges that unmanned aerial vehicle landing easily makes mistakes and inefficiency among the prior art, reached the technological effect that improves unmanned aerial vehicle landing efficiency, specifically as follows:

referring to fig. 1, fig. 1 is a flowchart of a method for landing an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 1, the unmanned aerial vehicle landing method provided in the embodiment of the present application includes the following steps:

s101, acquiring landing application information of the unmanned aerial vehicle to be approved; the landing application information includes a projected landing time, an airport identification of the projected landing.

The unmanned aerial vehicle to be approved is an unmanned aerial vehicle whose flight path is known not to fly yet.

And S102, determining a time code corresponding to the expected landing time.

Determining a time code corresponding to the predicted landing time includes: calculating the ratio of the time stamp corresponding to the expected landing time to a preset time window; and adding one to the integer number of the ratio to determine the time code corresponding to the predicted landing time.

The time stamp is the total number of seconds from greenwich time 1970, 01, 00 hours 00 minutes 00 seconds (beijing time 1970, 01, 08 hours 00 seconds) to the present.

The preset time window is typically set to 300 seconds, i.e. the time range for the time code is five minutes.

Illustratively, if the estimated landing time of the unmanned aerial vehicle to be audited is 2022, 05 and 10, 03, the time stamp corresponding to the estimated landing time is 1652148205, the ratio of 1652148205 to 300 is 5507160.68, and the integer number of the ratio is added with a certain time to be coded as 5507161.

S103, combining the time code with the airport mark, and determining the time code as a sub landing code corresponding to the unmanned aerial vehicle to be examined and approved.

For example, if the airport identifier is HZYH003B and the time code is 5507161, the corresponding sub-landing code of the unmanned plane to be checked is HZYH003B-5507161.

S104, judging whether a target landing permission code containing the sub landing codes exists in the landing permission code set; the target landing permission code includes the station code information.

The landing permission code set is all the landing permission codes of the approved unmanned aerial vehicles. The landing permission codes comprise sub landing codes, machine position codes and entering sequence codes; alternatively, the landing clearance code includes an airport identification, a time code, an airport code, and an approach sequence code.

The target landing permission code including the sub landing code means that the landing permission code including the sub landing code is determined as the target landing permission code from the landing permission code set. That is to say, the target landing code includes both the airport identifier corresponding to the unmanned aerial vehicle to be approved and the time code corresponding to the unmanned aerial vehicle to be approved.

The airport code refers to the identification of each airport corresponding to each airport. In the embodiment of the application, the machine position codes are determined according to the number of the corresponding machine positions in the airport, and if the number of the machine positions is 6, the machine position codes are respectively A1, A2, A3, A4, A5 and A6. The entrance sequence codes are the sequence of the unmanned planes entering the corresponding positions in the corresponding time codes, and the number of the entrance sequence codes is the number of the unmanned planes which are allowed to land at most in each time code of each position. In the embodiment of the application, one station is set to allow four unmanned aerial vehicles to land at most in each time code, that is, the sequence code is set to be 0, 1, 2 and 3, and the initial approach sequence code is set to be 0.

After judging whether the landing permission code set has the target landing permission code containing the sub landing codes, the method further comprises the following steps:

and if the landing permission code set does not contain the target landing permission code of the sub-landing codes, combining the sub-landing codes, the minimum airport code and the initial entering sequence code to determine the target landing permission code as the landing permission code of the unmanned aerial vehicle to be approved.

That is to say, the landing permission code set does not include both the airport identification corresponding to the unmanned aerial vehicle to be approved and the time-coded landing permission code corresponding to the unmanned aerial vehicle to be approved. That is, no drone has yet been scheduled to land at this airport within this time code.

The minimum machine position code refers to the machine position code corresponding to the first machine position; the initial approach sequence is that the unmanned aerial vehicle enters the corresponding position first in the time code.

For example, if the time code is 5507161, if the number of machine positions of the airport identity HZYH003B is 6, and the machine position codes are A1, A2, A3, A4, A5, and A6, respectively, then the minimum machine position code is A1; if four airplanes are allowed to land in the same time code of each airplane position, the approach sequence code is set to be 0, 1, 2 and 3, and then the initial approach sequence code is 0. If the landing permission code set does not contain the target landing permission code of HZYH003B-5507161, the landing permission code of the unmanned plane to be checked is HZYH003B-5507161-A1-0.

And S105, determining the number of each machine position code corresponding to the sub landing code according to the machine position code information.

And if the landing permission code set comprises the target landing permission codes containing the sub landing codes, determining the number of each machine position code corresponding to the sub landing codes according to the machine position code information. That is, all the target landing permission codes are counted to determine the number of the respective station codes.

After determining the number of each machine code corresponding to the sub landing code according to the machine code information, the method further comprises the following steps:

judging whether the number of each machine position code is zero or not; if the number of each machine bit code is not zero, whether the maximum entering sequence code corresponding to the target landing permit code with the least number of machine bit codes is smaller than the preset code is judged.

If the number of any machine bit code is zero, judging whether the number of only one machine bit code is zero; if the number of only one station code is zero, determining the sub landing code, the station code and the initial entering sequence code as landing permission codes of the unmanned aerial vehicle to be examined and approved; if the number of the machine position codes is not zero, selecting the smallest machine position code from the machine position codes with the number of the machine position codes being zero, and combining the sub landing code, the smallest machine position code and the initial entering sequence code to determine the landing permission code of the unmanned aerial vehicle to be approved.

In a preferred embodiment, if the sub landing codes are hzhh 003B-5507162 and the target landing permission codes including hzhh 003B-5507162 are 3, hzhh 003B-5507162-A1-0, hzhh 003B-5507162-A2-0 and hzhh 003B-5507162-A3-0, respectively, then only one position code is zero, and the position code is A4, then hzhh 003B-5507162-A4-0 is determined as the landing permission code of the unmanned aerial vehicle to be approved;

in a preferred embodiment, if the sub landing codes are HZYH003B-5507163 and the target landing permission codes comprising HZYH003B-5507163 are 2, HZYH003B-5507163-A1-0 and HZYH003B-5507163-A2-0, respectively, there are two station codes with zero number, A3 and A4, respectively, then the smallest station code selected from A3 and A4 is A3, and HZYH003B-5507162-A3-0 is determined as the landing permission code of the unmanned aerial vehicle to be approved.

Judging whether the maximum entering sequence code corresponding to the target landing permit code with the least number of the machine bit codes is smaller than the preset code, wherein the method further comprises the following steps: judging whether the number of only one machine bit code is minimum; if only one machine position code has the minimum number, judging whether the maximum entering sequence code corresponding to the target landing permission code with the minimum number of machine position codes is smaller than a preset code or not; if the number of the machine bit codes is not the minimum, selecting the minimum machine bit code from the machine bit codes with the minimum number of the machine bit codes to determine the machine bit code with the minimum number of the machine bit codes.

In a preferred embodiment, if the sub landing code is HZYH003B-5507164 and the number of target landing permission codes including HZYH003B-5507164 is 6, HZYH003B-5507164-A1-0, HZYH003B-5507164-A1-1, HZYH003B-5507164-A2-0, HZYH003B-5507164-A2-1, HZYH003B-5507164-A3-0, and HZYH B-5507164-A4-0, the number of machine position codes is not zero, and the machine position code with the least number of machine position codes is A3, A4, the smallest machine position code among the machine position codes is A3, and A3 is determined as the machine position code with the least number of machine position codes.

S106, judging whether the maximum entering sequence code corresponding to the target landing permit code with the least number of the machine position codes is smaller than the preset code or not.

And if the maximum entering sequence code corresponding to the target landing permission code with the least number of the station codes is larger than or equal to the preset code, sending a signal that the unmanned aerial vehicle cannot land to be approved. That is, within this time code, the number of drones corresponding to each flight level of the airport is the maximum number of drones allowed to land.

The preset code is set as an upper limit value of the approach sequence code, that is, set as the approach sequence code corresponding to the maximum number of drones allowed to land in each time code for each flight.

That is, if the sub landing code is HZYH003B-5507165, the target landing permission codes including HZYH003B-5507165 are 24, HZYH003B-5507165-A1-0 to HZYH003B-5507165-A1-3, HZYH003B-5507165-A2-0 to HZYH003B-5507165-A2-3, HZYH003B-5507165-A3-0 to HZYH003B-5507165-A3-3, HZYH003B-5507165-A4-0 to HZYH003B-5507165-A4-3, HZYH003B-5507165-A5-0 to HZYH003B-5507165-A5-3, HZYH003B-5507165-A6-0 to HZYH 5507165-55071003A 6-5503, the minimum number of the airplane position codes is A1, A2, A3, A4, A5 and A6 respectively, the number is 4, the minimum airplane position code is selected from A1, A2, A3, A4, A5 and A6 to be A1, the maximum entering sequence code corresponding to the target landing permission code corresponding to A1 is 3, the preset code is 3, and the airport with the airport mark of HZYH003B cannot allow the unmanned aerial vehicle to land within the 5507165 time code.

S107, determining the machine position code with the least number of machine position codes as the machine position code corresponding to the unmanned aerial vehicle to be examined and approved, and adding one to the largest entering sequence code to determine the entering sequence code corresponding to the unmanned aerial vehicle to be examined and approved.

And if the maximum entering sequence code corresponding to the target landing permission code with the minimum number of the machine position codes is smaller than the preset code, determining the machine position code with the minimum number of the machine position codes as the machine position code corresponding to the unmanned aerial vehicle to be examined and approved, and adding one to the maximum entering sequence code to determine the entering sequence code corresponding to the unmanned aerial vehicle to be examined and approved.

That is, the maximum entering sequence code is determined from the target landing allowance codes corresponding to the machine code having the smallest number of machine codes.

And S108, combining the sub landing codes corresponding to the unmanned aerial vehicle to be approved, the station codes corresponding to the unmanned aerial vehicle to be approved and the entering sequence codes corresponding to the unmanned aerial vehicle to be approved, and determining the sub landing codes as landing permission codes of the unmanned aerial vehicle to be approved.

In a preferred embodiment, if the sub landing code is HZYH003B-5507164 and the target landing permission codes including HZYH003B-5507164 are 6, HZYH003B-5507164-A1-0, HZYH003B-5507164-A1-1, HZYH003B-5507164-A2-0, HZYH003B-5507164-A2-1, HZYH003B-5507164-A3-0, and HZYH B-5507164-A4-0, the number of the machine position codes is not zero, and the machine position code with the least number is A3, A4, the smallest machine position code among the machine position codes is A3, and the smallest machine position code among the machine position codes is A3, A3 is determined as the machine position code with the least number, and further A3 is determined as the machine position code to be examined; a3, the maximum entering sequence code corresponding to the target landing permission code is 0, and then 1 is determined as the entering sequence code corresponding to the unmanned aerial vehicle to be examined and approved; and the landing permission code of the unmanned plane to be examined is HZYH003B-5507164-A3-1.

S109, sending the landing permission code of the unmanned aerial vehicle to be inspected to the unmanned aerial vehicle to be inspected so that the unmanned aerial vehicle to be inspected lands according to the landing permission code.

When the landing permission code of the unmanned aerial vehicle to be approved is sent to the unmanned aerial vehicle to be approved, the landing height corresponding to the preset area, the first time range and the second time range corresponding to the time codes and the approach sequence code corresponding to the airport identification and the station code in the landing permission code is sent to the unmanned aerial vehicle to be approved.

The preset area comprises an airport corresponding to the airport identification and longitude and latitude coordinates of a machine position corresponding to the machine position code.

The calculation method of the first time range corresponding to the time code comprises the following steps: multiplying the time code by a preset time window, determining the product as a timestamp corresponding to the lower time limit of the first time range, and converting the timestamp corresponding to the lower time limit of the first time range into the lower time limit of the first time range; multiplying the time code by a preset time window, adding the product to the preset time window, determining the addition result as a time stamp corresponding to the upper time limit of the first time range, and converting the time stamp corresponding to the upper time limit of the first time range into the upper time limit of the first time range. The calculation method of the second time range corresponding to the time code comprises the following steps: and taking the time lower limit of the first time range as the time lower limit of the second time range, and adding the preset time period to the time lower limit of the second time range to determine the time lower limit as the time upper limit of the second time range.

The preset time period is generally set to 120 seconds.

For example, if the preset time window is set to 300 seconds, the preset time period is set to 120 seconds, and the time code is 5507161, the timestamp corresponding to the lower time limit of the first time range is 1652148300, which is converted to 10/5/2022, and the timestamp corresponding to the upper time limit of the first time range is 1652148600, which is converted to 10/5/2022; further, the lower time limit of the first time range is 2022 years, 5 months, 10 days 10, 05. The lower time limit of the second time range is 2022, 5, month 10, 05.

The second time range corresponding to the time code can be understood as waiting time, the time upper limit value from the time upper limit value of the second time range to the time upper limit value of the first time range is understood as landing time, namely, the unmanned aerial vehicle reaches the preset area in the second time range corresponding to the time code and waits for the unmanned aerial vehicle not to land, and the unmanned aerial vehicle starts to land after the time upper limit value of the second time range. That is to say, as long as reach the unmanned aerial vehicle in the preset area in the second time horizon and all be the unmanned aerial vehicle of waiting to descend.

Each entry sequence code has a corresponding landing height, and the landing height corresponding to the current entry sequence code is added with a preset height interval to determine the landing height corresponding to the next proceeding sequence code.

The preset height interval is typically set to 30 meters.

Illustratively, if the sequence codes are 0, 1, 2 and 3, respectively, the landing height corresponding to the initial entry sequence code 0 is 30 meters, and the preset height interval is 30 meters, the landing height corresponding to the entry sequence code 1 is 60 meters, the landing height corresponding to the entry sequence code 2 is 90 meters, and the landing height corresponding to the entry sequence code 3 is 120 meters.

When the unmanned aerial vehicle flies to a preset area in actual flight, the unmanned aerial vehicle sends an arrival signal containing a landing permission code to a ground control center and waits; the ground control center verifies that the landing permission code of the unmanned aerial vehicle determines that the airport identification in the landing permission code is accurate, verifies that the real-time position of the unmanned aerial vehicle determines that the preset position of the unmanned aerial vehicle is accurate, determines that the time for the unmanned aerial vehicle to actually reach the preset area belongs to a second time range corresponding to the landing permission code, and sends a preliminary landing instruction to the unmanned aerial vehicle when waiting for the time upper limit of the second time range corresponding to the landing permission code; the unmanned aerial vehicle receives the preliminary landing signal, flies to the landing height corresponding to the approach sequence code, hovers, and sends a signal of reaching the designated landing height to the ground control center; the ground control center determines that the machine position corresponding to the machine position code in the landing permission code is empty, and sends a landing instruction when all the unmanned aerial vehicles corresponding to the machine position arrive; the unmanned aerial vehicle flies to a landing height corresponding to the entrance sequence code according to the entrance sequence code, and sends a signal of the landed preset height interval to the ground control center after landing the preset height interval; the ground control center judges whether the real-time height of the unmanned aerial vehicle is 0 meter; if the real-time height of the unmanned aerial vehicle is 0 meter, the ground control center sends a position leaving instruction, and the unmanned aerial vehicle leaves the position and lands; if the real-time height of the unmanned aerial vehicle is not 0 meter, the ground control center continues to send landing signals, and the unmanned aerial vehicle sends the landed preset height interval signals to the ground control center after landing again for the preset height interval.

Referring to fig. 2, fig. 2 is a flowchart of another method for landing an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 2, another unmanned aerial vehicle landing method provided in the embodiment of the present application includes the following steps:

so that after pending unmanned aerial vehicle lands according to the landing permission code, unmanned aerial vehicle landing method still includes:

s201, judging whether the actual time when the target unmanned aerial vehicle to be landed arrives at the preset area belongs to a first time range corresponding to the target time code in the landing permission code of the target unmanned aerial vehicle to be landed.

That is to say, the target is waited to descend unmanned aerial vehicle for the unmanned aerial vehicle that needs to descend in the actual flight. The method comprises the steps of determining an airport identification in a landing permission code of a target unmanned aerial vehicle to be landed as a target airport identification, determining a time code in the landing permission code of the target unmanned aerial vehicle to be landed as a target time code, determining a machine position code in the landing permission code of the target unmanned aerial vehicle to be landed as a target machine position code, and determining an entrance sequence code in the landing permission code of the target unmanned aerial vehicle to be landed as a target entrance sequence code.

That is to say, whether the actual time that the target unmanned aerial vehicle to be landed arrives at the preset area corresponding to the target airport identification and the target airport location code belongs to the first time range corresponding to the target time code is judged.

If the actual time of the target unmanned aerial vehicle to be landed to reach the preset area does not belong to the first time range corresponding to the target time code, namely, the target unmanned aerial vehicle to be landed is in a late state when reaching the airport corresponding to the target airport identification. The ground control center can directly send a signal that the unmanned aerial vehicle cannot land to the target unmanned aerial vehicle to be landed; or arranging the target unmanned aerial vehicle to be landed to land according to the actual situation.

Specifically, because the departure time of the target unmanned aerial vehicle that waits to descend is preset, can not go out in advance, if the actual time that the arrival of target unmanned aerial vehicle that waits to descend reaches the predetermined area does not belong to the first time range that the target time code corresponds, then think that the target unmanned aerial vehicle that waits to descend is in the state of arriving late, and do not think that the target unmanned aerial vehicle that waits to descend is the state of arriving in advance.

After judging whether the actual time of the target unmanned aerial vehicle to be landed to reach the preset area belongs to the first time range corresponding to the target time code, the method further comprises the following steps:

if the actual time of the target unmanned aerial vehicle to land to reach the preset area does not belong to the first time range corresponding to the target time code, determining a time code corresponding to the actual time of the target unmanned aerial vehicle to land to reach the preset area; combining a time code corresponding to the actual time of reaching the preset area with a target airport mark in a landing permission code of the target unmanned aerial vehicle to be landed, and determining the time code as a target sub-landing code of the target unmanned aerial vehicle to be landed; judging whether the number of the landing permission codes containing the target sub-landing codes is greater than or equal to the preset number or not; and if the number of the landing permission codes containing the target sub-landing codes is greater than or equal to the preset number, sending a signal incapable of landing to the target unmanned aerial vehicle to be landed.

The preset number refers to the number of the unmanned aerial vehicles which are allowed to land at most in each time code in the airport corresponding to the target airport identification. Or, the preset number calculation mode is the product of the number of the positions corresponding to the target airport identification and the maximum number of the unmanned aerial vehicles allowed to land in each time code of each position.

For example, if the target airport is identified as HZYH003B, the airport has 6 stations, each station allows up to four drones to land in each time code, the preset number is 24, the time code corresponding to the actual time of arrival of the drone to land in the preset area is 5507165, and the target sub-landing code is HZYH003B-5507165; if the screened target landing permission codes containing HZYH003B-5507165 are 24, the number of the target landing permission codes containing HZYH003B-5507165 is equal to the preset number, and a no-landing signal is sent to the target unmanned aerial vehicle to be landed.

And if the number of the landing permission codes containing the target sub-landing codes is smaller than the preset number, determining a new landing permission code of the target unmanned aerial vehicle to be landed so that the target unmanned aerial vehicle to be landed lands according to the new landing permission code.

If the number of the landing permission codes containing the target sub-landing codes is smaller than the preset number, that is, in the first time range corresponding to the time code corresponding to the actual time of reaching the preset area, the number of the unmanned aerial vehicles allowed to land at the airport corresponding to the target airport identification does not reach the maximum number of the unmanned aerial vehicles allowed to land at the airport.

The step of determining the new landing permission code of the target drone to be landed is the same as the step of determining the landing permission code of the target drone to be landed, and details are not repeated here.

S202, whether the actual time when the target unmanned aerial vehicle to be landed reaches the preset area belongs to a second time range corresponding to the target time code is judged.

If the actual time of the target unmanned aerial vehicle to be landed to reach the preset area belongs to the first time range corresponding to the target time code in the landing permission code of the target unmanned aerial vehicle to be landed, whether the actual time of the target unmanned aerial vehicle to be landed to reach the preset area belongs to the second time range corresponding to the target time code is judged.

After judging whether the actual time when the target unmanned aerial vehicle to be landed arrives at the preset area belongs to the second time range corresponding to the target time code, the method further comprises the following steps:

if the actual time that the target unmanned aerial vehicle to be landed arrives at the preset area does not belong to the second time range corresponding to the target time code, judging whether the number of arrived unmanned aerial vehicles to be landed, except the target unmanned aerial vehicle to be landed, corresponding to the target airport identification, the target time code and the target airport location code in the landing permission code of the target unmanned aerial vehicle to be landed is zero or not; if the number of arrived unmanned aerial vehicles to be landed, except the unmanned aerial vehicle to be landed, corresponding to the target airport identification, the target time code and the target position code in the landing permission code of the unmanned aerial vehicle to be landed is not zero, adding the highest landing height corresponding to the arrived unmanned aerial vehicle to be landed, except the unmanned aerial vehicle to be landed, and a preset height interval to determine the landing height of the unmanned aerial vehicle to be landed; and if the number of the arrived unmanned aerial vehicles to be landed, except the unmanned aerial vehicles to be landed, corresponding to the target airport identification, the target time code and the target position code in the landing permission code of the unmanned aerial vehicle to be landed is zero, determining the height value of the preset height interval as the landing height of the unmanned aerial vehicle to be landed.

Specifically, whether the number of arrived to-be-landed unmanned aerial vehicles except the target to-be-landed unmanned aerial vehicle, which corresponds to the target airport identification, the target time code and the target station code in the landing permission code of the target to-be-landed unmanned aerial vehicle, is zero is judged, that means until the target to-be-landed unmanned aerial vehicle arrives at the actual time of the preset area, whether the number of arrived to-be-landed unmanned aerial vehicles except the target to-be-landed unmanned aerial vehicle, which has arrived at the preset area, is zero is determined. That is to say, no matter what the number of unmanned aerial vehicles corresponding to all landing permission codes including the target airport identity, the target time code and the target airport location code is, only the number of unmanned aerial vehicles to be landed, which have reached the preset area, except the target unmanned aerial vehicle to be landed, is determined until the actual time.

That is to say, when the actual time that the unmanned aerial vehicle that waits to land in the target arrived in the preset area belongs to first time span but does not belong to the second time span, judge the quantity that contains the unmanned aerial vehicle that waits to land that the landing application code that contains target airport sign, target time code and target machine position code corresponds has arrived except that the unmanned aerial vehicle is waiting to land in the target.

The unmanned aerial vehicle to be landed which has arrived means an unmanned aerial vehicle which has arrived in a preset area and has not landed. The reached unmanned aerial vehicle to be landed comprises a target unmanned aerial vehicle to be landed and unmanned aerial vehicles to be landed except the target unmanned aerial vehicle to be landed. Since the actual time when the target drone to be landed arrives at the preset area belongs to the first time range but does not belong to the second time range, it is considered that the drone to be landed may have landed. Consequently, when the actual time that arrives and predetermine the region belongs to first time horizon but does not belong to the second time horizon, wait to descend unmanned aerial vehicle not all unmanned aerial vehicle that target airport sign, target time code and target aircraft position code correspond, but only when the target waits to descend unmanned aerial vehicle to arrive the actual time of predetermineeing the region, unmanned aerial vehicle that has not yet descended.

Specifically, if the number of all the unmanned aerial vehicles corresponding to the target airport identification, the target time code and the target station code in the landing permission code of the target unmanned aerial vehicle to be landed is 3, 2 unmanned aerial vehicles have been reached, and 1 unmanned aerial vehicle has been landed in the 2 reached unmanned aerial vehicles, the number of the reached unmanned aerial vehicles to be landed corresponding to the target airport identification, the target time code and the target station code in the landing permission code of the target unmanned aerial vehicle to be landed is 1.

The maximum landing height corresponding to the reached unmanned aerial vehicles to be landed is obtained by multiplying the number of the reached unmanned aerial vehicles to be landed by the height value of the preset height interval, and determining the product as the maximum landing height corresponding to the reached unmanned aerial vehicles to be landed.

For example, if the landing permission code of the target drone to be landed is HZYH003B-5507161-A2-1, then the corresponding first time range is from 2022 years 5 months 10 days 10 to 2022 years 5 months 10 days 10: the corresponding second time range is from 5 months and 10 days at 2022 to 10 months and 10 days at 2022 and the preset height interval is 30 meters. If the actual time for the target drone to land to reach the preset area is 2022 years, 5 months, 10 days, 10, 08, then the actual time for the target drone to land to reach the preset area belongs to the first time range and does not belong to the second time range, if all landing permission codes including HZYH003B-5507161-A2 are HZYH003B-5507161-A2-0, HZYH003B-5507161-A2-1, HZYH003B-5507161-A2-2, HZYH003B-5507161-A2-3, respectively, and by 10 days, 10, 2022, the number of drones reaching the preset area is 3, and 1 drone has landed, then the number of reached drones corresponding to HZYH003B-5507161-A2 is 2, then the highest altitude corresponding to the reached drone to land is determined to land for 60 meters, 60 meters is determined to be 90 meters, and the flight signal is sent to the target drone to land for 90 meters, until the target drone to be reached by 30 meters, and the target drone to land for 30 meters.

S203, when the time of the second time range is up, whether all the unmanned aerial vehicles to be landed corresponding to the target airport identification, the target time code and the target airport position code in the landing permission code of the target unmanned aerial vehicle to be landed reach the preset area is judged.

If the actual time that the target unmanned aerial vehicle to be landed reaches the preset area belongs to the second time range corresponding to the target time code, waiting for the time upper limit of the second time range, and judging whether all unmanned aerial vehicles to be landed corresponding to the target airport identification, the target time code and the target airport location code in the landing permission code of the target unmanned aerial vehicle to be landed reach the preset area.

That is to say, whether all the unmanned aerial vehicles to be landed corresponding to the landing permission codes including the target station identifier, the target station code and the target time code reach the preset area is judged. And before the time upper limit of the second time range, the unmanned aerial vehicle does not land when reaching the preset area. Therefore, in the second time range, all unmanned aerial vehicles arriving at the preset area are unmanned aerial vehicles to be landed.

Illustratively, if the landing permission code of the target unmanned aerial vehicle to be landed is HZYH003B-5507161-A3-1, and the actual time of the target unmanned aerial vehicle to be landed to reach the preset area is 2022, 5, month, 10 and 10, 06 00, waiting for 10, 5, 10 and 2022, and determining whether all the unmanned aerial vehicles corresponding to the landing permission code containing HZYH003B-5507161-A3 reach the preset area.

And S204, indicating the target unmanned aerial vehicle to be landed to fly to the landing height corresponding to the target approach sequence code in the landing permission code of the target unmanned aerial vehicle to be landed.

If all the unmanned aerial vehicles to be landed corresponding to the target airport identification, the target time code and the target position code in the landing permission code of the unmanned aerial vehicle to be landed by the target arrive at the preset area when waiting for the time upper limit of the second time range, indicating that the unmanned aerial vehicle to be landed by the target flies to the landing height corresponding to the target entering sequence code in the landing permission code of the unmanned aerial vehicle to be landed by the target.

That is to say, if all the unmanned aerial vehicles corresponding to the target airport identification, the target time code and the target position code in the landing permission code of the target unmanned aerial vehicle to be landed all reach the preset area when waiting for the time upper limit of the second time range, the target unmanned aerial vehicle to be landed is instructed to fly to the landing height corresponding to the target approach sequence code in the landing permission code of the target unmanned aerial vehicle to be landed.

When the indication target is to be landed, the unmanned aerial vehicle flies to the landing height corresponding to the target entering sequence code in the landing permission code of the target to be landed, and simultaneously, other unmanned aerial vehicles to be landed are also indicated to fly to the respective corresponding landing heights.

Illustratively, if the landing permission code of the target unmanned aerial vehicle to be landed is HZYH003B-5507161-A3-1, if the number of the to-be-landed airplanes corresponding to the landing permission code containing HZYH003B-5507161-A3 is 4 in total to reach the preset area, one of the to-be-landed airplanes is the target unmanned aerial vehicle to be landed, and the other 3 to-be-landed unmanned aerial vehicles are the other to-be-landed airplanes, the target unmanned aerial vehicle to be landed is indicated to fly to the landing height corresponding to the target entering sequence code 1 for 60 meters, and the target unmanned aerial vehicle to be landed flies to 60 meters and then sends a signal of reaching the designated landing height to the ground control center; the ground control center sends the descending instruction, and the target is treated to descend unmanned aerial vehicle and is descended 30 meters earlier according to 60 meters' descending height, descends 30 meters again, promptly, descends preset height interval one by one, and the real-time height of treating to descend unmanned aerial vehicle until the target is 0 meters, then the target is treated to descend unmanned aerial vehicle and accomplishes the descending.

When the target unmanned aerial vehicle to be landed is indicated to fly to the landing height 60 meters corresponding to the target entering sequence code 1, the unmanned aerial vehicle to be landed corresponding to HZYH003B-5507161-A3-0 is indicated to fly to the landing height 30 meters corresponding to the entering sequence code 0, the unmanned aerial vehicle to be landed corresponding to HZYH003B-5507161-A3-2 is indicated to fly to the landing height 90 meters corresponding to the entering sequence code 2, and the unmanned aerial vehicle to be landed corresponding to HZYH003B-5507161-A3-3 is indicated to fly to the landing height 120 meters corresponding to the entering sequence code 3.

When waiting to the time upper limit of the second time range, judging whether all the unmanned aerial vehicles to be landed in the landing permission code of the target unmanned aerial vehicle to be landed reach the preset area, wherein the target airport identification, the target time code and the target position code are the unmanned aerial vehicles to be landed, and the method further comprises the following steps:

if the number of the unmanned aerial vehicles to be landed, which are corresponding to the target airport identification, the target time code and the target machine position code and are not all in the landing permission code of the target unmanned aerial vehicle to be landed, does not reach the preset area when the unmanned aerial vehicle to be landed waits for the time upper limit of the second time range, whether the number of the reached unmanned aerial vehicles to be landed, which are corresponding to the target airport identification, the target time code and the target machine position code and are except for the target unmanned aerial vehicle to be landed, is zero or not is judged.

That is to say, if the unmanned aerial vehicles to be landed corresponding to the landing permission codes including the target airport identification, the target time code and the target airport code do not all arrive when waiting to reach the upper time limit of the second time range, it is determined whether only the target unmanned aerial vehicle to be landed arrives at the preset area.

If the number of the arrived unmanned aerial vehicles to be landed, except the target unmanned aerial vehicle to be landed, corresponding to the target airport identification, the target time code and the target position code is not zero, determining the arrival sequence of the target unmanned aerial vehicles to be landed according to the actual time of the arrived unmanned aerial vehicles to be landed to reach a preset area; determining the landing height of the target unmanned aerial vehicle to be landed according to the arrival sequence of the target unmanned aerial vehicle to be landed; and if the number of the arrived unmanned aerial vehicles to be landed except the target unmanned aerial vehicle to be landed, which corresponds to the target airport identification, the target time code and the target position code, is zero, determining the height value of the preset height interval as the landing height of the target unmanned aerial vehicle to be landed.

That is to say, if not only the target unmanned aerial vehicle to be landed arrives at the preset area, determining the arrival sequence of the target unmanned aerial vehicle to be landed according to the actual time of the arrived unmanned aerial vehicle to be landed arriving at the preset area; determining the landing height of the target unmanned aerial vehicle to be landed according to the arrival sequence of the target unmanned aerial vehicle to be landed; and if only the target unmanned aerial vehicle to be landed reaches the preset area, determining the height value of the preset height interval as the landing height of the target unmanned aerial vehicle to be landed.

According to the arrival sequence of the target unmanned aerial vehicle to be landed, determining the landing height of the target unmanned aerial vehicle to be landed comprises: and multiplying the arrival sequence of the target unmanned aerial vehicle to be landed by the height value of the preset height interval, and determining the product as the landing height of the target unmanned aerial vehicle to be landed.

For example, if the landing permission code of the target drone to be landed is HZYH003B-5507161-A3-3, and the actual time of the target drone to be landed to reach the preset area is 2022 years, 5 months, 10 days 10, 05, waiting for the maximum time limit of the second time range, 2022 years, 5 months, 10 days 10, 07; if only the target unmanned aerial vehicle to be landed reaches the preset area, the landing permission code of the target unmanned aerial vehicle to be landed is not considered as an entrance sequence code 3 in HZYH003B-5507161-A3-3, 30 meters is directly determined as the landing height of the target unmanned aerial vehicle to be landed, the target unmanned aerial vehicle to be landed flies to 30 meters and sends a signal reaching the specified landing height to a ground control center, and the ground control center sends a signal of landing preset height interval if the ground control center determines that the station is empty; and the ground control center judges that the real-time height of the target unmanned aerial vehicle to be landed is 0 meter, and then sends a command of leaving the airplane space, and the target unmanned aerial vehicle to be landed leaves the airplane space to land.

If not only the target unmanned aerial vehicle to be landed reaches the preset area, 1 unmanned aerial vehicle to be landed reaches the preset area besides the target unmanned aerial vehicle to be landed, and the arrival time of the target unmanned aerial vehicle to be landed is earlier than the arrival time of 1 unmanned aerial vehicle to be landed except the target unmanned aerial vehicle to be landed, the arrival sequence of the target unmanned aerial vehicle to be landed is 1, and 30 meters is directly determined as the landing height of the target unmanned aerial vehicle to be landed; determining 60 meters as the landing height of 1 unmanned aerial vehicle to be landed except the target unmanned aerial vehicle to be landed; after the target unmanned aerial vehicle to be landed and 1 unmanned aerial vehicle to be landed except the target unmanned aerial vehicle to be landed respectively reach the landing heights, sending a signal of reaching the designated landing height to a ground control center; the ground control center sends a landing instruction when determining that the machine position is empty; the method comprises the steps that a target unmanned aerial vehicle to be landed and 1 unmanned aerial vehicle to be landed except the target unmanned aerial vehicle to be landed land a preset height interval and then send a landed preset height interval signal to a ground control center; the ground control center determines that the real-time height of the target unmanned aerial vehicle to be landed is 0 meter, and sends a position leaving instruction, so that the target unmanned aerial vehicle to be landed leaves the position and lands; the ground control center determines that the real-time height of 1 unmanned aerial vehicle to be landed except the target unmanned aerial vehicle to be landed is 30 meters, and continues to send landing signals after determining that the station is empty; after 1 unmanned aerial vehicle to be landed except the target unmanned aerial vehicle to be landed lands again for a preset height interval, sending a signal of landed preset height interval to a ground control center; the ground control center determines that the real-time height of 1 unmanned aerial vehicle to be landed except the target unmanned aerial vehicle to be landed is 0 meter, sends and leaves the aircraft position instruction, and 1 unmanned aerial vehicle to be landed except the target unmanned aerial vehicle to be landed leaves the aircraft position to land and accomplish.

If the number of reached to-be-landed drones except the target to-be-landed drone corresponding to the landing permission code containing HZYH003B-5507161-A3 is 2, and the actual time of the to-be-landed drone except the target to-be-landed drone reaching the preset area is 2022 years, 5 months, 10 days 10, 05, 2022 years, 5 months, 10 days 10, 06, the arrival sequence of the target to-be-landed drone is 2, 60 meters is determined as the landing height of the target to-be-landed drone, the arrival sequence of the to-be-landed drone reaching 2022 years, 5 months, 10 days 05 is 1 for 30 meters, and the arrival sequence of the to-be-landed drone arriving at 2022 years, 5 months, 10 days 10, 06, is 3 for 90 meters.

Based on the same application concept, the embodiment of the application further provides an unmanned aerial vehicle landing device corresponding to the unmanned aerial vehicle landing method provided by the embodiment, and because the principle of solving the problem of the device in the embodiment of the application is similar to the unmanned aerial vehicle landing method provided by the embodiment of the application, the implementation of the device can refer to the implementation of the method, and repeated parts are not described again.

As shown in fig. 3, fig. 3 is a functional block diagram of an unmanned aerial vehicle landing device provided in an embodiment of the present application, where the unmanned aerial vehicle landing device 10 includes: the system comprises an acquisition module 101, a first determination module 102, a second determination module 103, a first judgment module 104, a third determination module 105, a second judgment module 106, a fourth determination module 107, a fifth determination module 108 and a landing module 109. The acquisition module 101 is used for acquiring landing application information of the unmanned aerial vehicle to be approved; the landing application information comprises predicted landing time and airport marks of predicted landing; the first determining module 102 is configured to determine a time code corresponding to the expected landing time; the second determining module 103 is used for combining the time code with the airport identification and determining the time code as a sub landing code corresponding to the unmanned aerial vehicle to be examined and approved; a first determining module 104, configured to determine whether a target landing permission code including a child landing code exists in the landing permission code set; the target landing permission code comprises machine position code information; a third determining module 105, configured to determine, according to the machine code information, the number of each machine code corresponding to a child landing code if the landing permission set includes a target landing permission code including the child landing code; a second determining module 106, configured to determine whether the largest entering sequence code corresponding to the target landing permission code with the smallest number of machine position codes is smaller than a preset code; a fourth determining module 107, configured to determine, if the maximum entering sequence code corresponding to the target landing permission code with the smallest number of machine position codes is smaller than the preset code, the machine position code with the smallest number of machine position codes as the machine position code corresponding to the unmanned aerial vehicle to be examined and approved, and add one to the maximum entering sequence code to determine as the entering sequence code corresponding to the unmanned aerial vehicle to be examined and approved; a fifth determining module 108, configured to determine, as a landing permission code of the unmanned aerial vehicle to be approved, a sub-landing code corresponding to the unmanned aerial vehicle to be approved, a station code corresponding to the unmanned aerial vehicle to be approved, and an entry sequence code corresponding to the unmanned aerial vehicle to be approved; and the landing module 109 is used for sending the landing permission code of the unmanned aerial vehicle to be approved to the unmanned aerial vehicle to be approved so that the unmanned aerial vehicle to be approved lands according to the landing permission code.

Based on the same application concept, referring to fig. 4, a schematic structural diagram of an electronic device provided in an embodiment of the present application is shown, where the electronic device 20 includes: a processor 201, a memory 202 and a bus 203, wherein the memory 202 stores machine-readable instructions executable by the processor 201, and when the electronic device 20 is operated, the processor 201 communicates with the memory 202 via the bus 203, and the machine-readable instructions are executed by the processor 201 to perform the steps of the drone landing method according to any of the above embodiments.

In particular, the machine readable instructions, when executed by the processor 201, may perform the following: acquiring landing application information of the unmanned aerial vehicle to be examined and approved; the landing application information comprises predicted landing time and airport marks of predicted landing; determining a time code corresponding to the predicted landing time; combining the time code with the airport identification to determine the time code as a sub landing code corresponding to the unmanned aerial vehicle to be examined and approved; judging whether a target landing permission code containing a sub landing code exists in the landing permission code set; the target landing permission code comprises machine position code information; if the landing permission code set comprises the target landing permission codes containing the sub landing codes, determining the number of each machine position code corresponding to the sub landing codes according to the machine position code information; judging whether the maximum entering sequence code corresponding to the target landing permission code with the least number of the machine bit codes is smaller than a preset code or not; if the maximum entering sequence code corresponding to the target landing permission code with the least number of the machine position codes is smaller than the preset code, determining the machine position code with the least number of the machine position codes as the machine position code corresponding to the unmanned aerial vehicle to be examined and approved, and adding one to the maximum entering sequence code to determine as the entering sequence code corresponding to the unmanned aerial vehicle to be examined and approved; combining the sub landing codes corresponding to the unmanned aerial vehicles to be approved, the station codes corresponding to the unmanned aerial vehicles to be approved and the incoming sequence codes corresponding to the unmanned aerial vehicles to be approved to determine the sub landing codes as landing permission codes of the unmanned aerial vehicles to be approved; and sending the landing permission code of the unmanned aerial vehicle to be inspected to the unmanned aerial vehicle to be inspected so that the unmanned aerial vehicle to be inspected lands according to the landing permission code.

Based on the same application concept, the embodiment of the application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the unmanned aerial vehicle landing method provided by the embodiment are executed.

Specifically, storage medium can be general storage medium, like mobile disk, hard disk etc, computer program on the storage medium is run, can carry out above-mentioned unmanned aerial vehicle landing method, through unmanned aerial vehicle's expected landing time, the landing application code of unmanned aerial vehicle is confirmed to the airport sign of expected landing, so that unmanned aerial vehicle descends according to the landing application code, the technical problem that need artifical arrangement unmanned aerial vehicle to descend and make mistakes easily and inefficiency among the prior art has been solved, the technological effect of improvement unmanned aerial vehicle efficiency of descending has been reached.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a division of one logic function, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solutions of the present application may be essentially implemented or are part of the technical solutions or parts of the technical solutions contributing to the prior art, and the computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present application, and shall cover the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An unmanned aerial vehicle landing method, characterized in that the unmanned aerial vehicle landing method comprises:

acquiring landing application information of the unmanned aerial vehicle to be examined and approved; the landing application information comprises predicted landing time and an airport mark of predicted landing;

determining a time code corresponding to the predicted landing time;

combining the time code with the airport identification to determine the time code as a sub landing code corresponding to the unmanned aerial vehicle to be examined and approved;

judging whether a target landing permission code containing the sub landing codes exists in the landing permission code set or not; the target landing permission code comprises machine position code information;

if the landing permission code set comprises the target landing permission codes comprising the sub landing codes, determining the number of each machine position code corresponding to the sub landing codes according to the machine position code information; the airport location code refers to the identifier of each airport corresponding to each airport;

judging whether the maximum entering sequence code corresponding to the target landing permission code with the least number of the machine position codes is smaller than a preset code or not;

if the maximum entering sequence code corresponding to the target landing permission code with the least number of the machine position codes is smaller than the preset code, determining the machine position code with the least number of the machine position codes as the machine position code corresponding to the unmanned aerial vehicle to be examined and approved, and adding one to the maximum entering sequence code to determine the entering sequence code corresponding to the unmanned aerial vehicle to be examined and approved;

determining a sub landing code corresponding to the unmanned aerial vehicle to be approved, a station code corresponding to the unmanned aerial vehicle to be approved and an entrance sequence code corresponding to the unmanned aerial vehicle to be approved as landing permission codes of the unmanned aerial vehicle to be approved;

and sending the landing permission code of the unmanned aerial vehicle to be approved to the unmanned aerial vehicle to be approved so that the unmanned aerial vehicle to be approved lands according to the landing permission code.

2. An unmanned aerial vehicle landing method according to claim 1, wherein the determining a time code corresponding to the predicted landing time comprises:

calculating the ratio of the time stamp corresponding to the predicted landing time to a preset time window;

and adding one to the integer bit of the ratio to determine the time code corresponding to the predicted landing time.

3. An unmanned aerial vehicle landing method according to claim 1, wherein after determining whether there is a target landing permission code including the sub-landing codes in the set of landing permission codes, the method further comprises:

and if the landing permission code set does not contain the target landing permission code of the sub landing codes, the minimum station code and the initial entering sequence code are combined to be determined as the landing permission code of the unmanned aerial vehicle to be examined and approved.

4. An unmanned aerial vehicle landing method according to claim 1, wherein after determining the number of each machine position code corresponding to the sub-landing code according to the machine position code information, the method further comprises:

judging whether the number of each machine position code is zero or not;

if the number of each machine position code is not zero, judging whether the maximum entering sequence code corresponding to the target landing permission code with the least number of machine position codes is smaller than a preset code or not;

if the number of any machine bit code is zero, judging whether only one machine bit code is zero;

if the number of only one station code is zero, determining the sub landing code, the station code and the initial entering sequence code as landing permission codes of the unmanned aerial vehicle to be examined and approved;

and if the number of the machine position codes is not zero, selecting the smallest machine position code from the machine position codes with the number of the machine position codes being zero, and combining the sub landing codes, the smallest machine position code and the initial entering sequence code to determine the landing permission code of the unmanned aerial vehicle to be approved.

5. An unmanned aerial vehicle landing method according to claim 4, wherein before determining whether the maximum approach sequence code corresponding to the target landing permission code with the smallest number of opportunity codes is smaller than a preset code, the method further comprises:

judging whether the number of only one machine bit code is minimum;

if only one machine position code has the minimum number, judging whether the maximum entering sequence code corresponding to the target landing permission code with the minimum number of machine position codes is smaller than a preset code or not;

if the number of the machine bit codes is not the minimum, selecting the minimum machine bit code from the machine bit codes with the minimum number of the machine bit codes to determine the machine bit code with the minimum number of the machine bit codes.

6. A method for landing a drone, according to claim 1, wherein after said landing the drone to be approved according to said landing permission code, said method further comprises:

judging whether the actual time of the target unmanned aerial vehicle to be landed reaching a preset area belongs to a first time range corresponding to the target time code in the landing permission code of the target unmanned aerial vehicle to be landed;

if the actual time of the target unmanned aerial vehicle to be landed to reach the preset area belongs to the first time range corresponding to the target time code in the landing permission code of the target unmanned aerial vehicle to be landed, judging whether the actual time of the target unmanned aerial vehicle to be landed to reach the preset area belongs to the second time range corresponding to the target time code;

if the actual time of the target unmanned aerial vehicle to be landed reaching the preset area belongs to a second time range corresponding to the target time code, waiting for the time upper limit of the second time range, and judging whether all unmanned aerial vehicles to be landed corresponding to the target airport identification, the target time code and the target airport location code in the landing permission code of the target unmanned aerial vehicle to be landed reach the preset area;

and if the time is up to the time limit of the second time range, all the unmanned aerial vehicles to be landed corresponding to the target airport identification, the target time code and the target position code in the landing permission code of the unmanned aerial vehicle to be landed by the target reach a preset area, indicating that the unmanned aerial vehicle to be landed by the target flies to the landing height corresponding to the target entering sequence code in the landing permission code of the unmanned aerial vehicle to be landed by the target.

7. An unmanned aerial vehicle landing method according to claim 6, wherein after determining whether the actual time when the target unmanned aerial vehicle to be landed arrives at the preset area falls within the second time range corresponding to the target time code, the method further comprises:

if the actual time of the target unmanned aerial vehicle to be landed reaching the preset area does not belong to the second time range corresponding to the target time code, judging whether the number of the target unmanned aerial vehicles to be landed, except the reached unmanned aerial vehicles to be landed of the target unmanned aerial vehicle to be landed, corresponding to the target airport identification, the target time code and the target airport code in the landing permission code of the target unmanned aerial vehicle to be landed is zero or not;

if the number of the reached unmanned aerial vehicles to be landed except the unmanned aerial vehicles to be landed of the target to be landed, which corresponds to the target airport identification, the target time code and the target position code in the landing permission code of the unmanned aerial vehicle to be landed, is not zero, adding the highest landing height corresponding to the reached unmanned aerial vehicles to be landed except the target unmanned aerial vehicles to be landed and a preset height interval to determine the landing height of the target unmanned aerial vehicles to be landed;

and if the number of the reached unmanned aerial vehicles to be landed of the target unmanned aerial vehicles to be landed is zero except for the target airport identification, the target time code and the target position code in the landing permission code of the target unmanned aerial vehicles to be landed, determining the height value of the preset height interval as the landing height of the target unmanned aerial vehicles to be landed.

8. An unmanned aerial vehicle landing method according to claim 6, wherein after waiting for the time limit of the second time range, determining whether all unmanned aerial vehicles to be landed corresponding to the target airport identification, the target time code, and the target airport code in the landing permit code of the target unmanned aerial vehicle to be landed reach a preset area, the method further comprises:

if the unmanned aerial vehicles to be landed corresponding to the target airport identification, the target time code and the target machine position code in the landing permission code of the target unmanned aerial vehicle to be landed do not all reach the preset area when waiting for the time upper limit of the second time range, judging whether the number of the unmanned aerial vehicles to be landed, except the reached unmanned aerial vehicles to be landed, corresponding to the target airport identification, the target time code and the target machine position code is zero or not;

if the number of the reached unmanned aerial vehicles to be landed, except the unmanned aerial vehicles to be landed, of the target to be landed, corresponding to the target airport identification, the target time code and the target position code is not zero, determining the arrival sequence of the target unmanned aerial vehicles to be landed according to the actual time of the reached unmanned aerial vehicles to be landed to reach a preset area;

determining the landing height of the target unmanned aerial vehicle to be landed according to the arrival sequence of the target unmanned aerial vehicle to be landed;

and if the number of the reached unmanned aerial vehicles to be landed of the target unmanned aerial vehicles to be landed is zero except for the target airport identification, the target time code and the target position code, determining the height value of the preset height interval as the landing height of the target unmanned aerial vehicles to be landed.

9. The utility model provides an unmanned aerial vehicle landing device, its characterized in that, unmanned aerial vehicle landing device includes:

the acquisition module is used for acquiring landing application information of the unmanned aerial vehicle to be approved; the landing application information comprises predicted landing time and an airport mark of predicted landing;

the first determining module is used for determining a time code corresponding to the predicted landing time;

the second determining module is used for combining the time code with the airport identification and determining the time code as a sub landing code corresponding to the unmanned aerial vehicle to be examined and approved;

the first judgment module is used for judging whether the landing permission code set has a target landing permission code containing the sub landing codes or not; the target landing permission code comprises machine position code information;

a third determining module, configured to determine, according to the machine code information, the number of each machine code corresponding to the sub landing code if a target landing permission code including the sub landing code exists in the landing permission code set; the airport location code refers to the identifier of each airport corresponding to each airport;

the second judgment module is used for judging whether the maximum entering sequence code corresponding to the target landing permission code with the least number of machine position codes is smaller than the preset code or not;

a fourth determining module, configured to determine, if a maximum entering sequence code corresponding to a target landing permission code with a minimum number of machine position codes is smaller than a preset code, the machine position code with the minimum number of machine position codes as the machine position code corresponding to the unmanned aerial vehicle to be examined and approved, and add one to the maximum entering sequence code to determine as the entering sequence code corresponding to the unmanned aerial vehicle to be examined and approved;

a fifth determining module, configured to determine a sub landing code corresponding to the unmanned aerial vehicle to be approved, a station code corresponding to the unmanned aerial vehicle to be approved, and an entering sequence code corresponding to the unmanned aerial vehicle to be approved as a landing permission code of the unmanned aerial vehicle to be approved;

and the landing module is used for sending the landing permission code of the unmanned aerial vehicle to be approved to the unmanned aerial vehicle to be approved so that the unmanned aerial vehicle to be approved lands according to the landing permission code.

10. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine readable instructions when executed by the processor performing the steps of the drone landing method of any one of claims 1 to 8.